CN105148496B - A kind of skidding type based on gesture stability is ridden instead of walk robot - Google Patents
A kind of skidding type based on gesture stability is ridden instead of walk robot Download PDFInfo
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- CN105148496B CN105148496B CN201510568529.8A CN201510568529A CN105148496B CN 105148496 B CN105148496 B CN 105148496B CN 201510568529 A CN201510568529 A CN 201510568529A CN 105148496 B CN105148496 B CN 105148496B
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- shoe body
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- driving wheel
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- A—HUMAN NECESSITIES
- A63—SPORTS; GAMES; AMUSEMENTS
- A63C—SKATES; SKIS; ROLLER SKATES; DESIGN OR LAYOUT OF COURTS, RINKS OR THE LIKE
- A63C17/00—Roller skates; Skate-boards
- A63C17/02—Roller skates; Skate-boards with wheels arranged in two pairs
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- A—HUMAN NECESSITIES
- A63—SPORTS; GAMES; AMUSEMENTS
- A63C—SKATES; SKIS; ROLLER SKATES; DESIGN OR LAYOUT OF COURTS, RINKS OR THE LIKE
- A63C17/00—Roller skates; Skate-boards
- A63C17/14—Roller skates; Skate-boards with brakes, e.g. toe stoppers, freewheel roller clutches
- A63C17/1409—Roller skates; Skate-boards with brakes, e.g. toe stoppers, freewheel roller clutches contacting one or more of the wheels
-
- A—HUMAN NECESSITIES
- A63—SPORTS; GAMES; AMUSEMENTS
- A63C—SKATES; SKIS; ROLLER SKATES; DESIGN OR LAYOUT OF COURTS, RINKS OR THE LIKE
- A63C17/00—Roller skates; Skate-boards
- A63C17/26—Roller skates; Skate-boards with special auxiliary arrangements, e.g. illuminating, marking, or push-off devices
-
- A—HUMAN NECESSITIES
- A63—SPORTS; GAMES; AMUSEMENTS
- A63C—SKATES; SKIS; ROLLER SKATES; DESIGN OR LAYOUT OF COURTS, RINKS OR THE LIKE
- A63C17/00—Roller skates; Skate-boards
- A63C17/26—Roller skates; Skate-boards with special auxiliary arrangements, e.g. illuminating, marking, or push-off devices
- A63C17/262—Roller skates; Skate-boards with special auxiliary arrangements, e.g. illuminating, marking, or push-off devices with foot bindings or supports therefor
-
- A—HUMAN NECESSITIES
- A63—SPORTS; GAMES; AMUSEMENTS
- A63C—SKATES; SKIS; ROLLER SKATES; DESIGN OR LAYOUT OF COURTS, RINKS OR THE LIKE
- A63C2203/00—Special features of skates, skis, roller-skates, snowboards and courts
- A63C2203/12—Electrically powered or heated
-
- A—HUMAN NECESSITIES
- A63—SPORTS; GAMES; AMUSEMENTS
- A63C—SKATES; SKIS; ROLLER SKATES; DESIGN OR LAYOUT OF COURTS, RINKS OR THE LIKE
- A63C2203/00—Special features of skates, skis, roller-skates, snowboards and courts
- A63C2203/18—Measuring a physical parameter, e.g. speed, distance
-
- A—HUMAN NECESSITIES
- A63—SPORTS; GAMES; AMUSEMENTS
- A63C—SKATES; SKIS; ROLLER SKATES; DESIGN OR LAYOUT OF COURTS, RINKS OR THE LIKE
- A63C2203/00—Special features of skates, skis, roller-skates, snowboards and courts
- A63C2203/24—Processing or storing data, e.g. with electronic chip
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- Motorcycle And Bicycle Frame (AREA)
- Manipulator (AREA)
Abstract
Ridden instead of walk robot, including left and right skidding shoe body, portable power supply, communication control unit and attitude detection system the invention discloses a kind of skidding type based on gesture stability.Skidding shoe body has two for four wheel constructions, and respectively there is a driving wheel at its left and right position, and respectively there is a bound feet universal wheel at front and rear position, drives driving wheel to rotate the all-around mobile for being capable of achieving skidding shoe body by motor.24V direct currents portable power supplies provide driven by power for skidding shoe body.Attitude detection system obtains operator's upper body attitude to recognize its motion intention by the relative space relation that six radio motions catch sensor (WSSS), and is realized by adjusting skidding shoe body driving wheel velocity of rotation.Communication control unit receives WSSS sensor informations and is aided with the order of Attitude Algorithm formation speed and is sent to skidding shoe body controller control driving wheel and rotates.The artificial go off daily of this skidding type machine instead of walk device integrates the instrument ridden instead of walk with amusement function there is provided a kind of, also for scooter provides a set of new type of control method.
Description
Technical field
The invention belongs to electric walk instead engineering device technique field, more particularly, to a kind of skidding type based on gesture stability
Ride instead of walk robot.
Background technology
The modern means of communication are very flourishing, can be realized by automobile, aircraft for remote traffic, for short distance traffic then
There is bicycle/electric vehicle to be used for broad masses.Traffic trip advocates Green Travel now, therefore electric vehicle is low because of its
Carbocyclic ring is protected, impersonal force is driven so as to be rapidly developed, and emerging various electric bicycles are exactly this kind of friendship on the market now
The achievement of logical instrument development.
Electric roller blades are a kind of cross products for gathering electric bicycle and roller skating, and it rides instead of walk trip as one kind
The vehicles while recreation experience of roller skating is also provided for user.
Disclose one kind in Chinese invention patent application prospectus CN103263767A to ride instead of walk electric roller blades, electricity
Pond is loaded into shoe bottom.Shoe body is tricycle structure, and front end two-wheeled is driving wheel, and rear end is wheel of throwing oneself on the ground, by pin on pedal
Power effect adjustment forward-reverse speed, while by the imparting that swings throw oneself on the ground wheel radial power make the roller skate direction of motion turn
It is dynamic.
Above-mentioned roller skate represents universal design and control mode, but senses foot's active force control by force snesor
The mode of roller skate motion processed still has weak point, avoids sensor accuracy and does not talk, first people's pin when wheel slides onto motion
Portion can change to the active force of footwear with motion, so just it cannot be guaranteed that the stable motion of roller skate；Next to that such electric roller skating
Need to be acted on by foot and provide trailing wheel radial load so as to change roller skating direction, the steering mode is difficult to precise control.Cause
This, this kind of electric roller skating control mode based on power control does not reach complete function of riding instead of walk, while being also required to user's tool
There is certain common skidding operating experience.
A kind of electric roller skating device is disclosed in Chinese utility model patent specification CN202219076U, skidding dress
A little theing improvement is that for putting separates the driving power supply of electric roller skating, control unit with skidding car body, so as to provide one
System architecture is planted to realize the control mode in addition to power control, while simplifying the structure of roller skate.But each list in patent
Unit is connected by wired mode, therefore because of the complexity of line motion can be caused to be fettered in actual use.
Therefore design a simple structure, the electric roller blades of safe and convenient will be such product development trend, its gesture
Larger facility and recreational must be provided for excursion.
The content of the invention
The operation that the present invention is brought mainly for the control mode of solution foot active force control electric roller blades motion
Complexity problem, proposes that a kind of skidding type based on gesture stability is ridden instead of walk robot, so as to replacing electric roller blades and being allowed to
More Portable safety, easy to operate, structure is more simple, while also for the development of electric roller blades provides a kind of novel strategy.
Skidding type proposed by the present invention robot of riding instead of walk includes：
Skidding shoe body, has two skidding shoe bodies for the operation of user or so pin, and it is substantially four-wheel mobile platform, left and right
Respectively there is an encapsulated driving wheel of a diameter of 96mm both sides, and a bound feet universal wheel is respectively installed in front and rear part, and shoe body inside is control
Circuit board and drive circuit board, two electrographite brush DC motor Drivers with digital encoder or so two are controlled by circuit
Side drive wheel is rotated, and all around moving for mobile platform can be realized according to different velocity compositions.Roller skate is by steel system
Into total quality is 5.8kg, can also make shoe body more firm while load-carrying requirement is reached, maintenance easy to disassemble.
Portable power supply, is rechargable power supplies, can be driven for the skidding shoe body of left and right two provides 24V voltages, its profile
It is cuboid container made of iron, is connected with skidding shoe body power line by two collapsible spring power lines, with switch on container
And the charactron of current voltage registration can be shown, user can be reminded to charge in time.
Control unit, control unit is made up of ARM development boards, can send life to the internal control circuit plate of skidding shoe body
The on/off and driving wheel of order control skidding shoe body are rotated.
Further, by radio motion catch sensor (Wireless Standalone Sensing System,
WSSS) can realize riding instead of walk the gesture stability of skidding robot, sensor integration 3-axis acceleration sensor, gyroscope and the magnetic
Field intensity sensor, can in real time measure sensor local Coordinate System relative to the rotation Eulerian angles with earth coordinates.
WSSS sensors are positioned over operator just may determine that operator reach forward/swing back, turn round attitude and two legs it
Between distance so that it is corresponding change skidding type ride instead of walk robot motion state to realize gesture stability.
Further, WSSS passes through 2.4G wireless technologys by Eulerian angles information transmission to control unit, by control unit
Skidding shoe body motion control commands are calculated to relevant information, control command is sent to skidding using wireless blue tooth serial ports
Shoe body internal control circuit.
Further, under the skidding shoe body pedal corner place four line pressure sensors can be on real-time monitoring pedal
Pressure distribution changes, and portion places correspondence signal conditioning circuit plate and pressure simulation signal condition is input into control electricity in roller skate body
Road plate is converted into data signal, pressure distribution information is obtained by the treatment to correlated digital information, such that it is able to judge to use
Person's both feet erect-position simultaneously realizes the function of system on/off and brake hard.
This skidding type machine instead of walk device people's advantage is that can realize that power supply is separated with skidding shoe body, electronic different from being attached to
Power supply on footwear, this measure can simplify skidding shoe body structure.The addition of wireless technology then further simplify the knot of skidding system
Structure.Conventional step active force is replaced to control using the method for gesture stability simultaneously, so that function of completely riding instead of walk is realized, order wheel
Gliding style ride instead of walk robot control it is more accurate, operate more simple, it is adaptable to which universal popular amusement is gone on a journey with short distance and used.
Brief description of the drawings
Fig. 1 rides instead of walk machine human body front schematic view (remove top layer installing plate) for skidding type of the present invention；
Fig. 2 rides instead of walk machine human body side schematic view for skidding type of the present invention；
Fig. 3 rides instead of walk robot skidding shoe body schematic rear view (removing bottom mounting plate) for skidding type of the present invention；
Fig. 4 rides instead of walk robot skidding shoe body top layer installing plate and bottom mounting plate schematic diagram for skidding type of the present invention；
Fig. 5 rides instead of walk the portable power supply schematic diagram of robot for skidding type of the present invention；
Fig. 6 rides instead of walk robot communication control unit schematic diagram for skidding type of the present invention, wherein (a) is internal circuit configuration
B () is shell mechanism；
Fig. 7 is ridden instead of walk the WSSS sensor schematics that robot uses by skidding type of the present invention；
Fig. 8 is that skidding type of the present invention is ridden instead of walk the control system architecture figure of robot；
Fig. 9 is ridden instead of walk the WSSS attitude detection system schematic diagrames that robot uses by skidding type of the present invention；
Figure 10 turns round signal for skidding type of the present invention robot (a) operator schematic diagram (b) operator that leans forward/swing back that rides instead of walk
Figure (c) skidding shoe body number of turns model schematic；
For skidding type of the present invention is ridden instead of walk, robot skidding shoe body is forward/backward to move schematic diagram (a) normal condition (b) to Figure 11
Pathosis；
Figure 12 rides instead of walk robot communication control center plate program flow diagram for skidding type of the present invention；
Figure 13 rides instead of walk robot skidding shoe body control panel program flow diagram for skidding type of the present invention.
Specific embodiment
In order to make the purpose , technical scheme and advantage of the present invention be clearer, it is right below in conjunction with drawings and Examples
The present invention is further elaborated.It should be appreciated that the specific embodiments described herein are merely illustrative of the present invention, and
It is not used in the restriction present invention.As long as additionally, technical characteristic involved in invention described below each implementation method
Not constituting conflict each other can just be mutually combined.
This skidding type machine instead of walk device people's skidding shoe body structure as shown in Figure 1, Figure 2, Figure 3, Figure 4, the main body framework of roller skate
It is made up of top layer installing plate 1, intermediate die plate 2 and bottom mounting plate 3.Intermediate die plate 2 is provided with four cunnings at the corner of front
, can be fixed on top layer installing plate 1 on traveller 4 by hex(agonal)screw by post 4.Intermediate die plate 2 is also mounted with four at the corner of front
Individual sensor installation seat 5, Ke Jiang No. tetra- pressure sensors are fixed on sensor installation seat 5, and the height of traveller 4 is made in the design
Slightly below pressure sensor 6 is arranged on the height on sensor installation seat 5, can so make effect of the operator to top layer installing plate
Power is distributed on No. four pressure sensors 6 completely.
The back side rear and front end of intermediate die plate 2 is provided with bearing block 7, Caster 8 is installed on bearing block 7 as load-bearing
Universal wheel.DC brushless motor 9 is installed near bearing cardan wheel, a set of motor drivetrain is constituted with reduction box, gear-box
System.Digital encoder 10 is installed in motor one end, and the other end is provided with motor coupler 11 on motor shaft, and motor coupler 11 is
Gear type structure.DC brushless motor 9 is fixed on the intermediate die plate back side by motor mount 12.The back side of intermediate die plate 2
The left and right sides is installed with driving wheel 16, and is fixed on installing plate by two driving wheel mounting seats 13 respectively.On live axle
Driving wheel shaft coupling 14 is installed and is fixed between two driving wheel mounting seats 13, the driving shaft coupling 14 is also gear type knot
Structure.Therefore the He of motor 9 can be realized on motor coupler 11 and driving wheel shaft coupling 14 by the way that gear type crawler belt 15 is enclosed within
The linkage of driving wheel 16, the velocity of rotation of driving wheel 16 just can be controlled by controlled motor velocity of rotation.It is surrounded by driving wheel 16
Rubber blanket can increase coefficient of friction and improve earth-grasping force.By the wheel bottom and the wheel bottom of bound feet BOGEY WHEEL 8 of driving wheel 16 in the design
In same level, such this skidding type machine instead of walk device people's roller skate body steadily can be positioned on level land for design.
Bottom mounting plate 3 can be fixed on motor mount 12 and driving wheel mounting seat 13 by hex(agonal)screw.Centre peace
The middle part of dress plate 2 reserves one square empty 17 circuit system for placing this skidding type machine instead of walk device people.Circuit system is by four
Block circuit board group into being followed successively by power supply power supply board, peripheral hardware driving plate, master board and pressure signal conditioning from top to bottom
Plate, finds out that No. four pressure sensors are connected on signal condition plate interface 18 by holding wire, motor encoder from Fig. 1 and Fig. 4
Device 10 is then connected on peripheral hardware drive circuit plate interface 19, and power supply power supply board accesses two system power supply supply lines 20 and by electricity
Pressure conversion circuit is powered for electric system, circuit system and pressure sensor.The onboard ST series As RM microcontroller energy of master board
Enough write-in embedded programs control driven shoes peripheral hardware.It is fixed together by connector between circuit board, and by signal condition
Copper post 21 on plate is fixed on bottom mounting plate 3 with screw.A hole 22 is left on bottom mounting plate 3, its effect one
It is to draw bluetooth serial ports line to be connected on the bluetooth serial ports 23 being attached on base plate, two is the jtag interface 24 for exposing master board
Download program is available for debugging.
Foregoing description is that revolver slides shoe body structure, and right wheel gliding mass mechanical structure is symmetrical with revolver cunning shoe body, internal structure
It is completely the same.
The portable power supply of this skidding type machine instead of walk device people is as shown in figure 5, be rectangular structure aluminium shell power supply.Electricity
Source front panel has two interfaces 25 can to provide two-way 24V driving DC voltages, and power switch 26 and number are placed in front panel center
The code display current voltage registration of pipe 27, if undertension can be power source charges by charge port 28.Have two on this power supply rear board
Individual handle 29 is conveniently guided and supported, and is carried by being positioned in knapsack and used.Power supply by two spring power lines 30 respectively with two
The system power supply supply lines 20 of skidding shoe body is connected to roller skate and provides driven by power, can be according to behaviour using spring power line 30
The height and power supply of author carry the length of position adjustments power line, reach the purpose of many applicabilities.
The communication control unit of this skidding type machine instead of walk device people is torn open as shown in fig. 6, its profile is cuboid plastics box 31
Inside is installed with a set of communication system after opening box.Communication control center plate 32 obtains WSSS transducer receivers by Serial Port Line
33 receive attitude information frame, the control two speed control commands frames of roller skate in left and right are formed after processing and judging and is passed through
Two bluetooth serial ports 34 are respectively sent on the bluetooth serial ports 23 in left and right skidding shoe body.WSSS transducer receivers 33 are used
2.4G wireless communication technologys receive the signal of outside WSSS sensors 38 and are converted into Serial Port Information output.A whole set of communication system is led to
The power supply of portable power source 35 for crossing a 5V outputs drives, if removable the unloading down of not enough power supply recharges.In this Control on Communication
Left on the shell box of device several holes can expose WSSS receivers antenna 36 and bluetooth serial ports 34 it is strong to improve signal
Degree, while the jtag interface 37 for reserving communication control center plate is available for signal procedure to download and debugging.This communication control unit makes
Used time is tied to operator's belly or is placed at power supply knapsack.
The Attitute detecting device of this skidding type machine instead of walk device people as shown in fig. 7, be single WSSS sensors As 1 shown in figure,
A whole set of attitude detection system has six consistent WSSS sensors (A1, B1, C1, D1, E1, F1) of structure, and simply mark is not number
With showing difference.WSSS sensors profile be cuboid plastics shell, inside comprising collection 3-axis acceleration sensor, gyroscope,
Magnetic field strength transducer gesture module chip, wirelessly transferred chip and internal power supply, carry WSSS on shell
Starting switch 39 and communication/charging inlet 40, the interface have four joints, and two+5V/GND interfaces as power supply work as sensing
Can be by special charger for sensor charges during device internal electric source indicator lamp display not enough power supply；Another two is TX/RX serial ports
Joint, can so make the sensor can operate at wired and wireless mode.Be decorated with WSSS sensor outer housings coordinate system X-axis and
Y-axis, this coordinate system represents the sensor coordinate system of itself, and its Z-direction can obtain by right-hand rule.The sensor is in space
In can measure the rotation Eulerian angles (Roll, Pitch, Yaw) of coordinate system relative to the earth in any attitude, that is, will sensing
When device coordinate system is with after earth coordinates coincidence around three corresponding Eulerian angles of reference axis rotation of sensor coordinate system
Can obtain the spatial attitude of current sensor coordinate system.WSSS sensors are by the information Store of Eulerian angles on data frame and constantly
Information frame is sent, WSSS receivers just constantly receive this kind of information frame and spread out of Euler's angle information to control centre's plate by serial ports
On.
Relation between overall structure of the present invention and each device is as shown in figure 8, sensed six WSSS by moving bandage
Device is tied up and specified on body part in operator, and each sensor is free of discontinuities wirelessly to be sent comprising its attitude information
Data frame, these information frames can be received using the WSSS receivers inside communication control unit, and by serial ports
It is transferred to be processed in communication control center plate.Attitude information obtains the speed command of left and right skidding shoe body and passes through after treatment
Bluetooth serial ports is wirelessly transferred, and is matched with the bluetooth serial ports in communication control unit when the bluetooth serial ports of skidding shoe bottom is installed on
Speed command just can be received afterwards to be transferred to roller skate control panel to perform order.The portable power supply being positioned in knapsack leads to
Power line is crossed for left and right skidding shoe body provides driven by power.
As one embodiment of the present of invention, we analyze this skidding type machine instead of walk device people carry out it is simple forward/backward
The situation of motion.As shown in figure 9, six WSSS sensors are fixed according to mode in figure by Sport bandage in attitude sensing system
With operator, the action of operator is intended to be determined by the relativeness between WSSS sensor F1 and D1 coordinate systems.
In forward/backward judgement, before the attitude that leans forward/swing back the invention is intended to pass through operator's upper part of the body controls roller skate respectively
Enter/setback, and lean forward/the bigger speed of layback degree is faster, then speed is when operator erects upright in roller skate when
Zero.As shown in Figure 10 (a), it is assumed that when operator leans forward above the waist, it is positioned over the WSSS F1 sensors Z axis vector of chest and puts
Be placed in the WSSS D1 sensors Z axis of belly vector between both constitute plane in have an angleIt is set on the occasion of working as behaviour
The angle value is zero when author erects upright, and when operator swings back, the angle is negative value, therefore can be by the angle just
It is negative to judge the swing attitude and degree of operator with size, and then the forward-reverse motion shape of skidding shoe body can be determined
State.Using the WSSS sensor coordinate systems of waist as the frame of reference, then being rotated by a series of Eulerian angles can make benchmark sit
The direction for marking system is consistent with the WSSS sensor coordinate systems of chest, and is previously mentioned the angle exactly frame of reference around its X-axis
The Roll angles of rotation.
The Euler's angle information exported by WSSS sensors is obtained in that from geodetic coordinates and is tied to the WSSS sensors itself
The rotational transformation matrix of coordinate system, if being φ around the angle of pitch Roll that X-axis rotates, the roll angle Pitch of Y-axis of having mercy on rotation is θ, around
The course angle Yaw of Z axis rotation is ψ, and using Z-Y-X Eulerian angles representation space coordinate systems, then it is B to set the frame of reference, current to sit
Mark system is P, spin matrix
Then calculate Roll angles described previously when, it is necessary to by earth coordinates as transmission medium, i.e.,：ThenIbid, then the numerical value of the row of 3 row of simultaneous matrix 1 and the row of 3 row 2 can try to achieve the value of φ to matrix form
That is, angleValue.
In order to simplify forward/backward model, four driving wheels tools of skidding shoe body when present invention setting is forward/backward or so
There are same speed, and velocity magnitude and the proportional relation of inclination angle size, specific embodiment is：Setting pace maximum
ForThe maximal rate of retrogressing isSet the effective range of angle asAnd according to actual conditions
Set angle threshold value asThen forward/backward speed determines that expression formula is：
The formula and correspondence parameter are incorporated into director demon can be by acquisitionThe size at angle directly asks for driving wheel
Speed under forward/backward motion state.
Used as one embodiment of the present of invention, we analyze this skidding type machine instead of walk device people and carry out the situation of turning motion.
Turned to the invention is intended to the relative position relation identification operator between the coordinate system and D1 coordinate systems that pass through WSSS sensors F1
It is intended to.As shown in Figure 10 (b), when the upper part of the body of operator is reversed, the Z axis of chest WSSS sensors F1 are sensed with waist WSSS
The Z axis of device D1 can produce an angle η in the horizontal plane, and operator can be learnt above the waist according to the positive and negative and stool and urine of the angle
Steering and degree.It is consistent with operator's steering above the waist the invention is intended to the course changing control of skidding shoe body is designed as, that is, grasp
Skidding shoe body is turned left when author turns left above the waist, and then skidding shoe body of turning right above the waist is turned right, when the steering degree of the upper part of the body is smaller
When, then keep straight trip constant.By observation it can be found that η angles are WSSS D1 sensors and are rotated to up to WSSS around itself Y-axis
The Yaw angles size in F1 directions, according to analyzing above, the θ angles as in coordinate system spin matrix, therefore/rear the elevation angle of leaning forward is measured together
The method of degree is similar to, with earth coordinates as medium, by spin matrixThe train value of 3 row 1 can directly try to achieve the size at θ angles.
As shown in Figure 10 (c), the Turn Models of skidding shoe body are set up, by taking left-hand rotation as an example, skidding shoe body in left and right is respectively with two
Individual " work " shape geometirc graphical presentation, if a width of 2d of skidding shoe body, it is v that revolver slides shoe body left driving wheel speed2L, right driving wheel speed
It is v2R, it is v that right wheel slides shoe body left driving wheel speed3L, right driving wheel speed is v3R, v2It is Zuo Xie centers spot speed, v3It is right footwear
Center spot speed, when skidding shoe body in left and right keeps current relative position constant, i.e., two skidding shoe body centre distance a and Δ in figure
β=βr-βlValue keep it is constant when, then the speed that can obtain four driving wheels according to geometrical property is respectively：WhereinIn order to obtain four speed of driving wheel just
Need to measure all parameters in above-mentioned formula.
For parameter a, this parameter is the distance between two skidding shoe bodies, when operator stands in skidding according to specified location
Can be replaced using the both legs of operator distance when in shoe body, as shown in Figure 9 four WSSS sensings of remaining of attitude detection system
Device is respectively placed on operator's left thigh, left leg, right thigh and right leg, to measure the distance between two legs, just can be with
Coordinate system on the basis of setting waist WSSS sensor D1 coordinate systems, when trying to achieve seat of the A1 and E1 sensors origin under D1 coordinate systems
Just the distance between A1, E1 sensor, that is, both legs distance can be calculated after mark in the X-Z plane of D1 coordinate systems.
The translation change of space coordinate transformation is turned to and obtains new along certain reference axis a certain distance of movement of current coordinate system
Co-ordinate system location, corresponding translation matrix isTherefore by taking right leg as an example, as can be seen from Figure 9
The Y direction of E1 sensor coordinate systems is consistent with shank direction, and C1 sensor coordinate systems Y-axis is consistent with thigh direction, then from E1
The transformation matrices that coordinate system is transformed into D1 coordinate systems are
Then coordinate of the origin of E1 under D1 coordinate systems isSimilarly try to achieveThen
The distance between two legs
For parameter betalAnd parameter betar, this parameter is the angle between left and right roller skate direction and frame of reference X-axis, when
The coordinate system Z-direction of WSSS sensors As 1 and E1 is respectively seen as skidding shoe body direction and by the coordinate system of WSSS sensors D1
When being considered as the frame of reference, then A1 and E1 the Z axis unit point under respective coordinate system can be tried to achieve by the method for coordinate transform and existed
Coordinate value under the D1 coordinate systems overlapped with A1 and E1 origins, and then try to achieve the corresponding angle to D1 coordinate system X-axis.For parameter
∠ a, this parameter is the angle of two skidding shoe body lines of centres vector and the frame of reference, and line vector is calculating both legs distance
When can obtain, therefore just can try to achieve the angle parameter after D1 coordinate systems are considered as into the frame of reference.
As one embodiment of the present of invention, its turning motion can be improved with reference to the forward/backward motion of skidding shoe body.With reference to
Figure 10 (c) can make one η of generation between the Z axis of WSSS sensors F1 and D1 when operator turns to above the waist by taking left-hand rotation as an example
Angle, gives one, angle threshold range [ηminηmax], then it is judged to turn left less than the scope, then it is judged to the right side more than the scope
Turn, be then judged to be intended to without steering within the scope of this.Drive wheel speed determine formula in skidding shoe body central speed by
The previous motion state of skidding shoe body is determined, that is, need to first judge skidding when attitude detection system judges that operator has steering to be intended to
Whether whether forward/backward speed, i.e. speed are possessed under shoe body previous state while being zero.If not zero, then will when turning left
This speed assigns revolver and slides shoe body left driving wheel, and then can calculate its excess-three driving wheel speed；Then by the speed during right-hand rotation
Degree assigns right wheel and slides shoe body right driving wheel.If previous state speed is zero, operator is intended to pivot stud, therefore when turning left
Revolver cunning shoe body left driving wheel is set to zero, the degree for deviateing threshold range according to η angles determines that revolver slides shoe body right driving wheel
Speed, the more big then speed of departure degree is faster, and two driving wheel speeds that right wheel slides shoe body are still asked by driving wheel speed formula
；It is zero then to make right wheel slide shoe body right driving wheel during right-hand rotation, determines that right wheel slides shoe body left driving wheel speed, Jin Erqiu according to η angles
Obtain remaining and drive wheel speed.As an example, it is assumed that roller skate is turned left, then left footwear revolver speed v2LIt is determined first, specific formula
For：
Wherein KtIt is rotary proportional coefficient, is determined by experiment.If roller skate is turned right, then right footwear right wheel speed v3RFirst by
It is determined that, determine formula similar to above-mentioned formula.
The Motion Control Strategies of above three embodiment can meet the present invention comprehensive action under normal circumstances, be
Control effect can be enable more accurate, it is necessary to ask operator that the sensor of attitude detection system is accurately positioned over into body
Appointed part.Simultaneously because sensors with auxiliary electrode is not suitable in strong magnetic field circumstance by magnetic interference, therefore the present invention easily.
Used as one embodiment of the present of invention, we also need to consider that skidding shoe body in left and right goes out in forward/backward motion
The inconsistent way to solve the problem in existing left and right skidding shoe body direction.If skidding shoe body enters forward/backward state, four
Driving wheel is all endowed same speed, and the inconsistent left and right skidding shoe body in that direction will certainly bump against, it is therefore desirable in skidding
Footwear constantly change its direction of advance during moving, and are capable of achieving by being compensated to left and right sidesing driving wheel speed.Such as Figure 11
B situation shown in (), only needs the corresponding speed for increasing right footwear left driving wheel left and right skidding shoe body direction can be made to unify again,
As shown in Figure 11 (a).The velocity compensation is not a definite value, between its size and left and right skidding shoe body angular separation and two footwear
Distance dependent, it determines that formula is：The visible Figure 10 (c) in parameter source, two in formula
Footwear angular separation is equal to βr-βl, and two footwear distance as a, as K1, K2, K3Depending on numerical value is by experiment, can carry out if needed
Adjustment.
As one embodiment of the present of invention, skidding shoe body top layer installing plate Xia No. tetra- pressure sensor effects are positioned over
Have at 2 points：One is that robot starts detection, needs to be passed by pressure after the switch of power supply, sensor and controller is closed
Sensor is stood on top layer installing plate detecting whether someone, while as shown in figure 11, the mode in the pin of operator is according to figure
Step down in when on top layer installing plate, No. four pressure sensors can be subject to different size of active force, if pin is stepped on into position changing, pressure
But active force ratio of the constant distribution of the total stress of force snesor in different sensors is varied from, therefore by detecting four tunnels
Pressure sensor stress proportion is that can determine whether whether operator stands in skidding shoe body according to the regular position of trampling shown in Figure 11
On, if proportion is not at normal range (NR) and can not then start this skidding type machine instead of walk device people, until operator correctly adjusts standing
Could normally start behind position；Secondly be braking performance test, when operator is running over journey because wishing to stop operation or running into tight
When pin leaves upper strata installing plate or is moved to deviation standard erect-position very big position during anxious situation, this skidding shoe body can be automatically stopped
Work, will drive wheel speed to be set as zero.Either revolver slides shoe body or right wheel slides shoe body, as long as No. four pressure sensor inspections
Can determine whether that system is in on-position when it is zero to measure by active force or force distribution reaches unnatural proportions, will be automatically stopped
Whole robot work.The road sensor signal conditionings of signal regulating panel Neng Jiang tetra- in circuit system inside intermediate die plate are
Voltage signal that control panel can be recognized simultaneously is converted to the digital value of pressure signal for program treatment by A/D.
As shown in figure 12, the program circuit of the plate of communication control center reflects the workflow of this skidding type machine instead of walk device people
The information of WSSS attitude transducers is converted into the foundation that control roller skate is moved, Yi Jishi by journey, aiming at for final realization
Existing gesture stability.Further illustrate, the final speed of each driving wheel of this skidding type machine instead of walk device people's skidding shoe body is determined
Formula is：V=Vturnor(Vstraight+Vcompensate), obtained by corresponding speed component is obtained according to workflow management in figure
The final speed of driving wheel.Further illustrate, the attitude information frame format that WSSS spreads out of is as follows：
Can determine whether that the frame is transmitted from which WSSS sensor according to label in frame in program.Further illustrate, lead to
The speed control commands frame format that letter center control panel sends is as follows：
Decimal is occurred to the calculating for driving wheel speed in program, therefore in order to improve accuracy, it is necessary to fractional value is protected
Stay and be transmitted on skidding shoe body control panel.
As shown in figure 13, how the program flow diagram in the master board of skidding shoe body describes speed control commands in skidding
Footwear inside performs and the pressure sensor mechanism of action.Further illustrate, because skidding shoe body controls direct current using digital encoder
Motor is rotated, therefore can be using the velocity variations process of the control method stabilized driving wheel of digital PID, with speed command frame
Speed as desired value, current speed value is obtained by digital encoder, both differences are input into incremental timestamp device
Just the feedback control of speed is constituted, command speed is can reach in 6.4ms.
As it will be easily appreciated by one skilled in the art that the foregoing is only presently preferred embodiments of the present invention, it is not used to
The limitation present invention, all any modification, equivalent and improvement made within the spirit and principles in the present invention etc., all should include
Within protection scope of the present invention.
Claims (10)
1. a kind of skidding type based on gesture stability is ridden instead of walk robot, it is characterised in that including two roller skates, portable power supply electricity
Source and communication control unit, wherein：
The main body framework of the roller skate is made up of top layer installing plate (1), intermediate die plate (2) and bottom mounting plate (3)；Top layer
Installing plate (1) is fixed on intermediate die plate (2)；Four sensor installation seats are mounted with intermediate die plate (2) front corner
(5), Ke Jiang No. tetra- pressure sensors (6) are fixed on four sensor installation seats (5)；Two before and after intermediate die plate (2) back side
End is provided with bearing block (7), Caster (8) is installed on bearing block (7) as bearing cardan wheel；Near bearing cardan wheel
DC brushless motor (9) is installed, DC brushless motor (9) constitutes a set of motor driven systems with reduction box, gear-box；Direct current
Digital encoder (10) is installed in brushless electric machine (9) one end, and the other end is provided with motor shaft coupling on the axle of DC brushless motor (9)
Device (11)；DC brushless motor (9) is fixed on the back side of intermediate die plate (2) by motor mount (12)；Intermediate die plate
(2) back side left and right sides is installed with driving wheel (16), and by two driving wheel mounting seats (13) is fixed on installing plate (3) respectively
On；Driving wheel shaft coupling (14) is installed on driving wheel (16) axle and is fixed between two driving wheel mounting seats (13)；Bottom
Installing plate (3) is fixed on motor mount (12) and driving wheel mounting seat (13)；Intermediate die plate (2) middle part reserves a side
Shape cavity (17) is for placing the circuit system of this skidding type machine instead of walk device people；Circuit system is by four pieces of circuit board groups into from top
Layer is followed successively by power supply power supply board, peripheral hardware driving plate, master board and pressure signal conditioning plate to bottom, and No. four pressure sensors lead to
Cross holding wire to be connected on signal condition plate interface (18), motor encoder (10) is connected to peripheral hardware drive circuit plate interface (19)
On, power supply power supply board accesses two system power supply supply lines (20) and is motor driven systems, circuit by photovoltaic conversion circuit
System and pressure sensor are powered；It is electronic that the onboard ST series As RM microcontrollers of master board can write embedded program control
Footwear peripheral hardware；It is fixed together by connector between circuit board, and is fixed on bottom mounting plate (3)；In bottom mounting plate (3)
On leave a hole (22), its effect one be draw bluetooth serial ports line be connected to the bluetooth serial ports (23) being attached on base plate
On, two is that the jtag interface (24) for exposing master board is available for download program with debugging；
The front panel of the portable power supply has two interfaces (25) can to provide two-way 24V driving DC voltages, in front panel
The heart places power switch (26) and charactron (27) display current voltage registration, if undertension can be by charge port (28)
Power source charges；There are two handles (29) conveniently to guide and support on this power supply rear board, carried by being positioned in knapsack and used；Power supply leads to
Cross two spring power lines (30) and roller skate offer electricity is provided with the system power supply supply lines (20) of two skidding shoe bodies respectively
Power drives；
Control centre's plate (32) in the communication control unit obtains WSSS transducer receivers (33) and receives by Serial Port Line
The attitude information frame for arriving, forms the control two speed control commands frames of roller skate in left and right and by two after treatment judges
Bluetooth serial ports (34) is respectively sent on the bluetooth serial ports (23) in left and right skidding shoe body；WSSS transducer receivers (33) are used
2.4G wireless communication technologys receive the signal of outside WSSS sensors (38) and are converted into Serial Port Information output.
2. the skidding type based on gesture stability as claimed in claim 1 is ridden instead of walk robot, it is characterised in that the WSSS sensings
Device inside includes and integrates 3-axis acceleration sensor, gyroscope, the gesture module chip of magnetic field strength transducer, wireless biography
Defeated chip and internal power supply, carry WSSS starting switches (39) and communication/charging inlet (40) on shell, the interface has four
Individual joint, two+5V/GND interfaces as power supply can be by special when sensor internal power supply indicator shows not enough power supply
It is that sensor charges with charger；Another two is TX/RX serial ports joints, and the sensor can be made to can operate at wired and wireless mould
Formula；Coordinate system X-axis and Y-axis are decorated with WSSS sensor outer housings, this coordinate system represents the sensor coordinate system of itself, its Z axis
Direction can obtain by right-hand rule；The sensor can measure the rotation of coordinate system relative to the earth in any attitude in space
Eulerian angles, that is, three reference axis after sensor coordinate system is overlapped with earth coordinates around sensor coordinate system are rotated
The spatial attitude of current sensor coordinate system is can obtain during corresponding Eulerian angles；WSSS sensors deposit the information of Eulerian angles
It is stored on data frame and constantly sends information frame, WSSS receivers just constantly receives this kind of information frame and spread out of Euler by serial ports
On angle information to control centre's plate.
3. the skidding type based on gesture stability as claimed in claim 1 or 2 is ridden instead of walk robot, it is characterised in that installed centre
Four travellers (4) are installed at plate (2) front corner, top layer installing plate (1) can be fixed on by traveller (4) by hex(agonal)screw
On.
4. the skidding type based on gesture stability as claimed in claim 3 is ridden instead of walk robot, it is characterised in that the height of traveller (4)
Degree is slightly below height of the pressure sensor (6) on sensor installation seat (5), can make operator to the work of top layer installing plate
Firmly it is distributed in completely on No. four pressure sensors (6).
5. the skidding type based on gesture stability as claimed in claim 1 or 2 is ridden instead of walk robot, it is characterised in that controlled in communication
Several holes are left on the shell box of device processed, the antenna (36) and bluetooth serial ports (34) of WSSS receivers can be exposed to improve
Signal intensity, while the jtag interface (37) for reserving communication control center plate is available for signal procedure to download and debugging.
6. the skidding type based on gesture stability as claimed in claim 1 or 2 is ridden instead of walk robot, it is characterised in that by motion
Six WSSS sensors are tied up and specified on body part in operator by bandage, and each sensor is free of discontinuities wirelessly to be sent out
The data frame comprising its attitude information is sent, these information are received using the WSSS receivers inside communication control unit
Frame, and be transferred to be processed in communication control center plate by serial ports；Attitude information obtains left and right skidding shoe body after treatment
Speed command is simultaneously wirelessly transferred by bluetooth serial ports, when being installed in the bluetooth serial ports of skidding shoe bottom and communication control unit
Bluetooth serial ports pairing after just can receive speed command and be transferred to roller skate control panel to perform order；It is positioned in knapsack
Portable power supply is by power line for left and right skidding shoe body provides driven by power.
7. the skidding type based on gesture stability as claimed in claim 1 or 2 is ridden instead of walk robot, it is characterised in that the pressure
Sensor is additionally operable to：One is that robot starts detection, needs to rely on after the switch of power supply, sensor and controller is closed
Pressure sensor come detect whether someone stand on top layer installing plate, when operator pin according to setting means step down in top layer pacify
When on dress plate, No. four pressure sensors can be subject to different size of active force, if pin is stepped on into position changing, pressure sensor is total
But active force ratio of the constant distribution of stress in different sensors is varied from, therefore by detecting No. four pressure sensors
Stress proportion is that can determine whether whether operator stands in skidding shoe body according to the regular position of trampling of setting, if proportion is not located
This skidding type machine instead of walk device people can not then be started in normal range (NR), until operator could normally open after correctly adjusting standing place
It is dynamic；Secondly be braking performance test, when operator is running over journey because wishing to stop operation or in case of emergency pin leaves
Layer installing plate or when being moved to the very big position of deviation standard erect-position, this skidding shoe body can be automatically stopped work, will drive wheel speed
Degree is set as zero；Either revolver slides shoe body or right wheel slides shoe body, as long as No. four pressure sensors are detected being by active force
Zero or force distribution can determine whether that system is in on-position when reaching unnatural proportions, whole machine will be automatically stopped artificial
Make；Road sensor signal conditionings of signal regulating panel Neng Jiang tetra- in circuit system inside intermediate die plate can be recognized for control panel
Voltage signal and the digital value of pressure signal is converted to for program treatment by A/D.
8. the skidding type based on gesture stability as claimed in claim 1 or 2 is ridden instead of walk robot, it is characterised in that in straight trip feelings
Under condition, the communication control unit calculates forward/backward speed VstraightExpression formula be：
The formula and correspondence parameter are incorporated into director demon can pass through the angle of pitch that acquisition rotates around X-axisThe size at angle
Speed of the driving wheel under forward/backward motion state directly is asked for, wherein settingIt is pace maximum,It is the maximal rate for retreating,It is the effective range of angle,It is the folder set according to actual conditions
Angle threshold value；
Left and right skidding shoe body occur in forward/backward motion left and right skidding shoe body direction it is inconsistent when, Control on Communication dress
The speed for putting the correspondence right footwear left driving wheel of increase makes left and right skidding shoe body direction unify again, and its computing formula is：Depending on K1 in formula, K2, K3 numerical value are by experiment, βr-βlIt is two footwear angular separations, a is
Two footwear distances；
The final speed formula of each driving wheel is：V=Vstraight+Vcompensate。
9. the skidding type based on gesture stability as claimed in claim 1 or 2 is ridden instead of walk robot, it is characterised in that in turning feelings
Under condition, the speed that the communication control unit calculates four driving wheels is respectively：
Wherein,If skidding shoe body a width of 2d, v2LFor revolver slides shoe body left driving wheel speed, v2RIt is right drive
Driving wheel speed, v3LFor right wheel slides shoe body left driving wheel speed, v3RIt is right driving wheel speed, v2It is Zuo Xie centers spot speed, v3For
You Xie centers spot speed, a is two skidding shoe body centre distances, βr-βlIt is two footwear angular separations.
10. the skidding type based on gesture stability as claimed in claim 1 or 2 is ridden instead of walk robot, it is characterised in that the communication
The profile of control device is cuboid plastics box.
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| USD693414S1 (en) | 2012-03-15 | 2013-11-12 | Razor Usa Llc | Electric scooter |
| USD810836S1 (en) | 2015-10-29 | 2018-02-20 | Razor Usa Llc | Electric scooter |
| CN105641906A (en) * | 2016-01-06 | 2016-06-08 | 蒋孝富 | Human body tilting posture-based method for controlling scooter and scooter |
| CN108602425B (en) | 2016-01-22 | 2021-11-05 | 美国锐哲有限公司 | Freewheeling electric scooter |
| CN105727547A (en) * | 2016-02-26 | 2016-07-06 | 汪灵敏 | Electric skateboard based on pressure induction control mode |
| CN105833513A (en) * | 2016-04-02 | 2016-08-10 | 上海大学 | Electric skateboard based on automatic/semi-automatic dual mode control of smart phone |
| CN107380334A (en) * | 2016-05-16 | 2017-11-24 | 蒋孝富 | Scooter based on the control of human body lateral attitude |
| US20180015355A1 (en) * | 2016-07-15 | 2018-01-18 | Razor Usa Llc | Powered mobility systems |
| CN106842994B (en) * | 2016-12-27 | 2018-07-03 | 广东开放大学（广东理工职业学院） | The control method and control system of a kind of driven shoes |
| CN107281739A (en) * | 2017-07-27 | 2017-10-24 | 纳恩博（北京）科技有限公司 | Wheel skidding device |
| USD912180S1 (en) | 2017-09-18 | 2021-03-02 | Razor Usa Llc | Personal mobility vehicle |
| CN108454719A (en) * | 2018-04-02 | 2018-08-28 | 西南交通大学 | A kind of mobile robot walking mechanism |
| JP7371027B2 (en) | 2018-06-01 | 2023-10-30 | レイザー・ユーエスエー・エルエルシー | Personal mobility vehicle with removable drive assembly |
| USD1020912S1 (en) | 2018-06-05 | 2024-04-02 | Razor Usa Llc | Electric scooter |
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| CN101554726B (en) * | 2009-05-15 | 2011-01-19 | 北京工业大学 | Flexible two-wheel self-balance robot system and motion control method thereof |
| CN101957250A (en) * | 2010-06-09 | 2011-01-26 | 天津职业技术师范大学 | Motion balance detection system for teeterboard of electric vehicle |
| CN201863984U (en) * | 2010-10-18 | 2011-06-15 | 邹帆 | Control drive circuit of self-balancing parallel two-wheeled electric vehicle |
| CN202966533U (en) * | 2012-12-05 | 2013-06-05 | 深圳市新力科技有限公司 | Eswing two-wheeled self-balancing bicycle |
| DE202014010649U1 (en) * | 2013-05-06 | 2016-02-26 | Future Motion, Inc. | Self-stabilizing skateboard |
| CN104383677B (en) * | 2014-11-27 | 2017-06-16 | 上海斐讯数据通信技术有限公司 | Device is assisted in a kind of skidding exercise |
| CN204536772U (en) * | 2015-03-16 | 2015-08-05 | 南京航空航天大学金城学院 | Manned double-wheel self-balancing vehicle control |
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